Lane-Change Model and Tracking Control for Autonomous Vehicles on Curved Highway Sections in Rainy Weather

Figure 8

Control effects of specific modes for anticollision on a curved road. (a) Global path. (b) Tracking error. (c) Longitudinal velocity. (d) Lateral velocity. (e) Lateral acceleration. (f) Yaw rate. (g) Control inputs of AFS and DYC. (h) Control inputs of longitudinal forces.

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